Vehicular communications network and methods of use and manufacture thereof

ABSTRACT

A vehicle control system for use with a host vehicle configured for travel along a path is described. The vehicle control system includes a processor configured to access a host location and host speed of the host vehicle. The processor is also configured to detect a follower location and follower speed of a following vehicle behind the host vehicle on the path. A tailgating distance is calculated between the host vehicle and the following vehicle. The following vehicle is identified as a tailgating vehicle when the tailgating distance is less than or equal to a first warning distance or when the follower speed is greater than the host vehicle within a second warning distance. A tailgating protocol of the host vehicle is initiated for the tailgating vehicle based on a differential speed between the host speed and the follower speed.

BACKGROUND

The disclosed subject matter relates to vehicular communicationsnetworks and methods of use and manufacture thereof. In particular, someembodiments relate to methods and apparatus for generating,transmitting, and/or receiving data along a vehicular communicationsnetwork, as well as controlling, or assisting the control of, a subjectvehicle based on this data.

The travel of a vehicle (hereinafter subject vehicle) alongpredetermined routes, such as on highways, roads, streets, paths, etc.(hereinafter generically referred to as paths) can be affected by othervehicles, objects, or obstructions (hereinafter generically referred toas other vehicles) on, at or otherwise in proximity to the path. Controlof a vehicle on the path can be performed manually by a driver,automatically or semi-automatically by a driving control system, or acombination of a driver and a control system. The circumstances in whicha vehicle's travel is affected can be numerous and diverse, and thusvehicle communications networks can be used to address thesecircumstances.

SUMMARY

As one example, one or more other vehicles disposed ahead of a subjectvehicle that are either stopped or traveling at a slower speed (or thatare decelerating at a higher rate of deceleration) than the subjectvehicle may cause or otherwise require the subject vehicle to stop orreduce its speed to avoid a collision. The immediacy of this requirementto stop or reduce speed is dictated by the distance between the subjectvehicle and the one or more other vehicles, as well as the difference inspeeds therebetween (or projected difference in speed based on thedifference in the rates of deceleration).

It may be beneficial to effectively determine the immediacy of therequirement for the subject vehicle to brake or slow down, such as underthe above circumstances. For example, the subject vehicle will need todecelerate very rapidly (hereinafter hard brake) or change lanes if theone or more other vehicles are in close proximity to the subject vehicleand/or the speed discrepancy between the vehicles is high (or projectedto be high), such as where the subject vehicle is traveling much faster(or projected to be traveling much faster) than the other vehiclesahead. However, hard braking may cause or otherwise involve certaindisadvantages, such as causing passenger discomfort within the subjectvehicle, increasing the potential of a collision (such as by a followingvehicle colliding into the rear of the subject vehicle), etc. Changinglanes under these circumstances may be subject to similar disadvantages.

Thus, it may be generally preferable to avoid hard braking or changinglanes in situations where it is not necessary for collision avoidance.Hard braking avoidance necessarily involves identification of situationsnot warranting hard braking for collision avoidance, as contrasted withsituations where such hard braking is prudent. This identification canbe performed manually. Alternatively, sensors using radar or lidartechnology can be mounted on vehicles to detect entities and/or othervehicles currently disposed in the subject vehicle's immediate path oftravel for the purpose of warning the subject vehicle's operator to takeaction to avoid a collision in cases where the other vehicles disposedahead of the subject vehicle are stopped or traveling more slowly thanthe subject vehicle. Vehicular operators may also utilize navigationsystems that include global positioning systems (GPSs) and congestedtraffic alerts to determine currently effective routes of travel. Othervehicles ahead of the subject vehicle can thereby be monitored usingthese technologies for the purpose of helping to identify situationswarranting hard braking of the subject vehicle.

Identification of situations warranting hard braking may be furthercomplicated in cases where another vehicle, motorcycle, bicyclist, etc.intends to merge into the path ahead of the subject vehicle. When amerging vehicle enters an entrance ramp and signals an intention tomerge, the subject vehicle operator must determine whether toaccelerate, decelerate, or change lanes to maintain a safe distancebetween the operator's vehicle and the merging vehicle during themerging event.

It may also be necessary for the subject vehicle operator to observeother vehicles proximate the merging vehicle to maintain this safedistance. For example, a vehicle merging ahead of other vehicles maycause those other vehicles to reduce speed to avoid colliding with themerging vehicle. The subject vehicle traveling behind the other vehiclesmay thereby need to reduce speed to avoid colliding with those othervehicles.

Alternatively, a vehicle may merge onto a path behind other vehiclesthat are either stopped or traveling at a slower speed than the mergingvehicle. The merging vehicle may then need to reduce its speed to avoidcolliding with the other vehicles. A subject vehicle traveling behindthe location on the path where the merging vehicle is merging (oranticipated to merge) may therefore need to reduce speed to avoidcolliding with the merging vehicle, which itself is reducing speed basedon the other vehicles ahead.

In many of the above and other scenarios, it may be beneficial todetermine whether a vehicle is traveling behind the subject vehicle, andwhether the vehicles are separated by a safe or otherwise relevantdistance, such as by using the above sensors. For example, if thefollowing vehicle is too close behind the subject vehicle, then it maybe beneficial to provide the following vehicle with a warning toincrease the distance separating the vehicles, such as by flashing thesubject vehicle's rear lights.

It may also be beneficial to take the information disclosed above (suchas with regard to a merging vehicle ahead of the subject vehicle) intoaccount in addressing the following vehicle. For example, it may beparticularly important to predict scenarios where the subject vehiclewill need to reduce its speed, and to further reduce its speed slowly toavoid being rear ended by the following vehicle. Under thesecircumstances, the subject vehicle can predict the necessity for it tobrake early, and thereby reduce the intensity of the braking, to reducethe likelihood of being rear ended by the following vehicle.

The above sensors can also be used to identify situations requiring hardbarking involving merging vehicles in the above contexts, and can alsobe used with an adaptive cruise control (ACC) system. ACC systems canautomatically control a speed of a vehicle by mechanically actuating thevehicle's accelerator or brake system. ACC systems typically include adistance measuring device and can sense a distance to a forward orpreceding vehicle and then control a host vehicle (i.e., the vehicleequipped with the ACC system, hereinafter also subject vehicle) so as tomaintain a predetermined distance between the subject vehicle andvehicles ahead on the path (preceding vehicles). ACC systems may alsoinclude an input device for inputting at least one of a target vehiclespeed or a target distance. Some ACC systems also provide a warningfeature in which the system alerts the vehicle operator to intervenemanually when the system determines that conditions are such thatbraking needs exceed the capabilities of the ACC system (e.g., thepreceding vehicle has stopped or decelerated rapidly). Another type ofACC system can prompt the vehicle operator to apply brakes if the extrabraking that is needed is beyond the capability of the ACC system, andcan include a collision warning.

Currently sensed data may be used to provide further guidance, such asfor ACC systems or autonomous driving systems, to change vehicle speedsor travel routes in the above contexts. As one example, a certain routemay be congested with traffic ahead of the subject vehicle. Real timedata may be gathered and used to detect and monitor the speed andlocation of the forward vehicles constituting the traffic congestion.Real time data may also be used to detect and monitor the speed,acceleration, heading, etc. of one or more vehicles intending to mergeinto the traffic from an entrance route, or alternatively, a differentlane or path within the same route. In other words, data from trafficvehicles and the one or more merging vehicles can be detected, gathered,and analyzed, and thus data can also be used to determine preferableautonomous or assisted controls and/or driver alerts for the subjectvehicle.

As discussed above, when traffic congestion exists on the roadway, amerge into the traffic by a vehicle can cause traffic to slow down forthe merging vehicle or alternatively cause the merging vehicle to slowdown for the traffic. The slowing of preceding traffic or a mergingvehicle can require the approaching subject vehicle to perform a hardbraking action or rapid change of course to avoid a collision with thetraffic and/or merging vehicle. This situation is especially poignant insituations where another vehicle is following behind the subject vehicleand separated by a very small or otherwise potentially unsafe distance,such as where hard braking of the subject vehicle could cause thefollowing vehicle to collide with the rear of the subject vehicle.

It may therefore be beneficial to combine real time or current trafficdata from multiple vehicles with a data analysis system to generatepredictions of traffic movements in reaction to a merging vehicle. Forexample, anticipated or statistically derived movements or patterns ofmultiple vehicles in a vehicle communication network can be determinedbased on the real time data collected from one or multiple sources, andthe relevance of these predicted movements or patterns can be analyzedby an ACC system in the approaching vehicle. It may also be beneficialto collect and analyze data relating to vehicles following the subjectvehicle, such as vehicles following too closely.

It may also be beneficial to supplement the methods and apparatus forgenerating predictions of preceding traffic and merging vehicles on apath, with methods and apparatus for detecting and/or analyzinginformation relating to vehicles following the subject vehicle tooclosely, by using an ACC system that can generate commands to control asubject vehicle based on the predictions. For example, based on datareceived from forward traffic and the merging vehicle, the approachingvehicle's ACC system can generate a prediction that one or more of thepreceding traffic vehicles will decelerate. The ACC system can generatea response to the effects of the merging vehicle and/or trafficcongestion and command vehicle controls to decelerate the subjectvehicle gradually, thereby avoiding hard or dangerous braking actions.The ACC system may also generate one or more traffic alerts to theoperator of the host vehicle. The alerts could warn the operator of themerging vehicle and impending traffic congestion, and/or provide asuggestion to change course to a new lane or path on the roadway.

These alerts can also take into account a situation where anothervehicle is following the subject vehicle too closely. Under thesecircumstances, it may be beneficial for the subject vehicle to requestthat the following vehicle increase the distance separating the twovehicles, and/or provide an even earlier or more urgent warning to thesubject vehicle operator to apply braking early and slowly to reduce thelikelihood of being rear ended.

Some embodiments are therefore directed to a vehicle control system foruse with a host vehicle configured for travel along a path, and at leastone source of host vehicle speed and location data, path navigation datarelevant to navigation of the current path, and traffic data relevant tothe host vehicle's location on the path. The vehicular control systemcan include a processor that is configured to: access the current pathnavigation data and host vehicle location and speed data that isprovided by the at least one source, detect, using a vehicularcommunications network, data from a merging vehicle intending to mergeinto the path of the host vehicle, detect, using the vehicularcommunications network, data from preceding traffic in the path of thehost vehicle, determine a speed and location of the merging vehicleintending to merge into the path of the host vehicle from datatransmitted over the vehicular communications network, determine a speedand location of preceding traffic on the path of the host vehicle fromdata transmitted over the vehicular communications network, and predictwhether the speed of the preceding traffic or the speed of the mergingvehicle will slow down during the merge. The vehicular control systemcan also include a vehicle controller configured to receive aninstruction from the processor to control a speed of the host vehiclebased on the predicted speed of preceding traffic and the predictedspeed of the merging vehicle.

Some other embodiments are directed to a vehicle control system for usewith a host vehicle configured for travel along a path, and at least onesource of host vehicle speed and location data, path navigation datarelevant to navigation of the current path, and traffic data relevant tothe host vehicle's location on the path. The vehicular control systemcan include at least one wireless transceiver that is configured toreceive current path data relevant to a speed and a location of at leastone traffic vehicle in traffic preceding the host vehicle and a speedand a location of a merging vehicle intending to merge into the pathfrom a vehicular communications network; and an electronic storagemedium that is configured to store at least one of the current pathdata, preceding traffic data, and data relevant to a merging vehicle.The vehicle control system can also include a processor that isconfigured to: detect, using the vehicle communications network, datafrom the merging vehicle intending to merge into the path of the hostvehicle, detect, using the vehicle communications network, data fromproceeding traffic in the path of the host vehicle, determine a speedand location of the merging vehicle intending to merge into the path ofthe host vehicle from data transmitted over the vehicular communicationsnetwork, determine a speed and location of the preceding traffic inproximity to the path of the host vehicle from data transmitted over thevehicular communications network, and predict whether the speed of thepreceding traffic or the speed of the merging vehicle will slow downduring the merge. The vehicle control system can further include avehicle controller configured to receive an instruction to control aspeed of the host vehicle based on the predicted speed of precedingtraffic and the predicted speed of the merging vehicle.

Still other embodiments are directed to a method of predicting trafficconditions and controlling a host vehicle based on the predictedconditions for travel along a path, the method being implemented by aprocessor and a vehicle control system. The method can include:accessing current path data relevant to a location and speed the hostvehicle; detecting data, from a vehicular communications network, from amerging vehicle intending to merge into the path of the host vehicle;detecting data, from the vehicular communications network, of precedingtraffic in the path of the host vehicle; determining a speed andlocation of the merging vehicle from the data transmitted over thevehicle communications network; determining a speed and location ofpreceding traffic on the path of the host vehicle from the datatransmitted over the vehicular communications network; predictingwhether the speed of the preceding traffic or the speed of the mergingvehicle will slow down during the merge; and controlling a speed of thehost vehicle, using the vehicle control system, based on the predictedspeed of preceding traffic and the predicted speed of the mergingvehicle during the merge.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed subject matter of the present application will now bedescribed in more detail with reference to exemplary embodiments of theapparatus and method, given by way of example, and with reference to theaccompanying drawings, in which:

FIG. 1 is a schematic of a traffic scenario that involves a roadway withan entrance ramp for illustrating aspects of the embodiments.

FIG. 2 is a schematic of a vehicle communication network according toaspects of the embodiments.

FIG. 3 is a schematic of an embodiment of a service provider of thevehicle communication network of FIG. 2.

FIG. 4 is a schematic of an adaptive cruise control (ACC) system thatcan be used with the vehicle communications network shown in FIG. 2.

FIG. 5 is a schematic of vehicle systems that can be associated with theadaptive cruise control system of FIG. 4.

FIG. 6 is a schematic of an exemplary design of a vehicle interiorassociated with the adaptive cruise control system of FIG. 4.

FIG. 7 is a flowchart of an exemplary method to control a subjectvehicle with the adaptive cruise control (ACC) system of FIG. 4.

FIG. 8 is a schematic of a first traffic scenario for illustratingaspects of the adaptive cruise control system of FIG. 4 as a remotevehicle merges ahead of traffic congestion.

FIG. 9 is a schematic of a second traffic scenario for illustratingaspects of the adaptive cruise control system of FIG. 4 as a remotevehicle merges ahead of traffic congestion.

FIG. 10 is a schematic of a third traffic scenario for illustrating theadaptive cruise control system of FIG. 4 as a remote vehicle merges intolight traffic.

FIG. 11 is a schematic of a fourth traffic scenario for illustrating theadaptive cruise control system of FIG. 4, which is directed to detectingand responding to a tailgating vehicle.

FIGS. 12A, 12B, and 12C are schematics of a rear of a host vehicledisplaying various warning indicators to a tailgating vehicle.

FIGS. 13A and 13B are exemplary flowcharts of an exemplary method todetect and react to a tailgating vehicle.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

A few inventive aspects of the disclosed embodiments are explained indetail below with reference to the various figures. Exemplaryembodiments are described to illustrate the disclosed subject matter,not to limit its scope, which is defined by the claims. Those ofordinary skill in the art will recognize a number of equivalentvariations of the various features provided in the description thatfollows.

I. Overall Vehicle Communication Network

Some of the disclosed embodiments relate to a vehicle communicationnetwork that is disclosed below in the context of a traffic scenario100. A scenario may involve one or more vehicles on a roadway 102 andone or more vehicles on an entrance ramp 108. In the embodiments, thevehicles can include automobiles, trucks, vans, minivans, sport utilityvehicles (SUVs), busses, recreational vehicles, amusement park vehicles,trams, golf carts, robotically controlled vehicles, automated drivevehicles, remote controlled vehicles, drones, motorcycles, scooters,mopeds, bicycles, ATVs, trains, trams, light rail trains, boats,personal watercraft, aircraft, helicopters, or any transport relatedentity. In fact, the various disclosed methods and apparatus areintended to be usable with any type of user and/or mode of transportthat can travel along, or can be located in proximity to, any improved,unimproved, and/or unmarked route or path.

The disclosed vehicle communication network is intended to beimplemented with any known, related art or later developed technologies.For example, the implemented technologies can involve Dedicated ShortRange Communications (DSRC) networks (including but not limited to thosetypes of networks currently used by some transport and traffic systems,such as for automatic toll collection), ad hoc networks, wireless accessin vehicular environments (WAVE), cellular networks, Wi-Fi networks,and/or any other network protocol that can provide the desiredfunctionalities.

Some of the embodiments are disclosed below in the context of a DSRCnetwork, which is a short to medium range communications service thatprovides communications links with high data transfer rates withacceptable or minimal latency. Vehicles, users, and infrastructureequipped with DSRC systems may communicate with each other, with remoteDSRC compatible transceivers over a network, or with roadside equipment(such as transport related infrastructure). The range of DSRC istypically about 300 meters, with some systems having a maximum range ofabout 1000 meters. DSRC in the United States typically operates in the5.9 GHz range, from about 5.85 GHz to about 5.925 GHz, and the typicallatency for DSRC is about 50 ms. Some DSRC systems communicate withvehicles operating at 100 miles per hour or less, but embodiments areintended to cover communications with vehicles traveling at any speed.

FIG. 1 is a schematic of a traffic scenario 100 that involves a roadway102 that may include a single lane or multiple lanes. Variousinfrastructure, vehicles, and vehicle communication network 200 (seeFIG. 2) components can be disposed at or proximate the roadway 102,including a host vehicle 104, a remote vehicle 110, a first trafficvehicle 114, a second traffic vehicle 118, a third traffic vehicle 122,a roadside equipment (RSE) 132, and a wireless network antenna 134. Afourth traffic vehicle 126 and a fifth traffic vehicle 128 are notoperable within the vehicle communication network 200 but are otherwiseintermixed with the first traffic vehicle 114, the second trafficvehicle 118, and the third traffic vehicle 122, which are collectivelyidentified as “traffic” 130 to facilitate explanation of the disclosure.To demonstrate the embodiments, remote vehicle 110 can be located on anentrance ramp 108 that merges into roadway 102 at any location. However,remove vehicle 110 could be located on any type of route or path thatjoins another route or path where vehicles can travel. The vehicles,roadways, entrance ramps, infrastructure, and components of theembodiments are provided for exemplary purposes to facilitateexplanation of the disclosed ACC system 400 (see FIG. 4) and vehiclecommunication network 200, and alternative or additional features may beprovided.

The host vehicle 104 can transmit, receive and/or exchangecommunications including data, images, messages, and/or otherinformation with other vehicles or infrastructure using DSRCcommunications. The DSRC communications can be implemented between oneDSRC transceiver to one or more other DSRC transceivers. The term “V2X”is also used to describe “vehicle-to-everything” communications, andvariations of V2X designations may depend on the intended user that istransmitting DSRC signals.

As shown in FIG. 1, the host vehicle 104 may be equipped with a vehicleto vehicle (V2V) transceiver 106 that can exchange messages andinformation with other vehicles, users, or infrastructure equipped withDSRC transceivers. For example, the V2V transceiver 106 can communicatewith the remote vehicle 110 via a V2V transceiver 112, the first trafficvehicle 114 via a V2V transceiver 116, the second traffic vehicle 118via a V2V transceiver 120, and the third traffic vehicle 122 via a V2Vtransceiver 124. RSE 132 is equipped with a transceiver that cantransmit and receive information wirelessly to and from any DSRCtransceiver using vehicle to infrastructure (V2I) protocols.

The V2V transceiver 106 may include components for communicating varioustypes of data and information between host vehicle 104 and other networkconnected vehicles, VRUs, infrastructure, and networks. Standard DSRCprotocols require the exchange of relative positioning data of all theDSRC users within broadcast range. Additionally, vehicle communicationsmay exchange data that can include, but is not limited to, the typeand/or specifications of vehicle, navigation data, roadway hazard data,traffic location data, course heading data, course history data,projected course data, kinematic data, current vehicle position data,range or distance data, speed and acceleration data, location data,vehicle sensory data, vehicle subsystem data, and/or any other vehicleinformation. In various embodiments, host vehicle 104 may exchange datausing DSRC protocols or other wireless protocols with any number ofvehicles that have operational DSRC transceivers. For example, hostvehicle 104, remote vehicle 110, and the first traffic vehicle 114 maybe configured to exchange data and information wirelessly using V2Vmessages. Some of the embodiments are intended to include exchangingdata and information between networked vehicles that may be useful infacilitating vehicle driving. For example, the information may be usefulfor a particular vehicle in order to assist ACC driving for vehiclesproximate to a merging vehicle.

In some embodiments, DSCR configured devices are intended to be usedwith one or more vehicle control systems. Examples of vehicle controlsystems include adaptive cruise control (ACC) systems, intelligentcruise control systems, autonomous driving systems, driver-assistsystems, lane departure warning systems, freeway merging, exiting, andlane-change systems, collision warning systems, integrated vehicle-basedsafety systems, automatic guided vehicle systems, etc. Some of theembodiments are disclosed below in the context of an ACC system.

FIG. 2 is a schematic of a vehicle communication network 200 accordingto some the embodiments. Host vehicle 104 includes an ACC system 202that can receive and assess traffic information and data. Components ofACC system 202 can exchange vehicle and traffic data messages, alerts,vehicle locations, and/or other useful information with other DSRCcompatible vehicles via V2V transceiver 106.

ACC system 202 may transmit and receive information directly orindirectly to and from a service provider 212 over a wirelesscommunication network 204. In an embodiment, the service provider 212includes a remote server 214, a remote transmitter 216, a remotereceiver 218, and a remote memory 220 that are configured to be incommunication with one another. In one embodiment, host vehicle 104 canreceive data and information from the service provider 212 by way of aone-to-many communication network 222. The one-to-many communicationnetwork 222 can include systems that can send information from onesource to a plurality of receivers. Examples of one-to-manycommunication networks can include television, radio, satellitenetworks, etc.

In FIG. 2, V2V transmitter 106 can be used by the ACC system 202 toreceive and transmit information to and from the service provider 212and other information providers through wireless communication network204 and a broadband network 210, such as the Internet. In alternativeembodiments, a radio frequency (RF) transceiver 224 in host vehicle 104can be used by the ACC system 202 to receive and transmit information toand from the service provider 212 through wireless network antenna 134to wireless communication network 204. The RF transmitter 224 caninclude, but is not limited to, a wireless phone, a wireless modem, aWi-Fi compatible transceiver, and/or any other device that communicateswith other networks using a wireless communication network 204. Hostvehicle 104 can also receive and transmit information to and from atraffic data supplier 206 and/or one or more other information suppliers208. This information can include, but is not limited to, traffic data,vehicle location and heading data, high-traffic event schedules, weatherdata, or other transport related data, etc. Traffic data supplier 206and other information supplier 208 can communicate with service provider212 through broadband network 210.

In an embodiment, service provider 212 may be linked to multiplevehicles through a network connection, such as via the wireless networkantenna 134 (see FIG. 1), and/or other network connections. Further, anyother wireless communication system capable of delivering data may beused such as satellite, cellular, Wi-Fi, microwave, etc. Serviceprovider 212 may also be linked by a wired connection, such as broadbandcable or fiber optic connections, Ethernet, DSL, ADSL, telephone modems,and/or any other wired communication system capable of delivering datato traffic infrastructure such as RSE 132.

II. Service Provider

FIG. 3 is a schematic of an embodiment of service provider 212 of thevehicle communication network 200. In FIG. 3, the service provider 212may include a computer controlled service provider network 300, an ACCsystem server 302, and a traffic data database 306. ACC system server302 and traffic data database 306 may communicate, through serviceprovider network connections 304 and 308, respectively, to serviceprovider network 300. Alternatively, this communication can be performeddirectly. The service provider network 300 can be capable ofcommunicating with one or more internal and external computer orcommunication networks, computer systems, or controller systems, such asvehicle communication network 200. In some embodiments, traffic datadatabase 306 is stored on ACC system server 302. However in otherembodiments, traffic data database 306 may be partially or fully locatedremote from ACC system server 302. In some embodiments, ACC systemserver 302 may perform some or all of the functions of ACC system 202.In other embodiments, ACC system server 302 and ACC system 202 sharefunctionality.

ACC system server 302 and traffic data database 306 can includeprocessors, memory, and instructions to operate as a computer. ACCsystem server 302 may interact with traffic data database 306 to accesstraffic data and/or information, such as graphics, maps, images, videos,navigational data, or any other data that can be useful to ACC system202. Traffic data database 306 may be organized using any known, relatedart and/or later developed data storage method and/or structure. Trafficdata database 306 may also include hard drives, flash drives, magneticdrives with removable storage media, such as disks or tape, or opticaldrives with removable storage media, such as discs, memory sticks,memory cards, embedded or discrete flash memory, and/or any other typeof memory.

Traffic data may be transmitted to service provider 212 eitherwirelessly or through wired connections in any manner known or presentlyunknown the art, such as via transceiver 322 shown in FIG. 3. Trafficmerge data may be received wirelessly via first, second, and third dataproviders 310, 312, 314, which can be other vehicles in vehiclecommunication network 200 transmitting traffic data. For example, hostvehicle 104, remote vehicle 110, and first traffic vehicle 114, secondtraffic vehicle 118, and third traffic vehicle 122 can transmit realtime traffic data from V2V communication systems over vehiclecommunication network 200 that can be received and processed by ACCserver 302. The embodiments are intended to also include traffic dataprovided via first, second, and third data providers 310, 312, 314,which may include data from commercial information providers, trafficdata providers, web cams, or government agencies (such as a state orfederal departments of transportation). The first, second, and thirddata providers 310, 312, 314 can provide location and trafficinformation to service provider 212, such as traffic at specificlocations, school locations and schedules, bicycle zones, constructionprojects, temporary roadway or lane closings, train locations andschedules that may interfere with roadway traffic, weather updates,major events causing unusual traffic patterns such as concerts andathletic competitions, and/or navigation map feature updates.

III. Adaptive Cruise Control System

FIG. 4 is a schematic of the ACC system 202 of the host vehicle 104 ofFIG. 2. However, the disclosed ACC system 202 may be associated withother vehicles or used in other applications. Other ACC systemsassociated with some vehicles may include different elements and/orarrangements as configured to ACC system 202, but may be configured tocommunicate over vehicle communication network 200 with one or moreother ACC systems. The ACC system shown in FIG. 4 is designated withreference number 400 to clearly express the intention to also oralternatively use the system by other entities or in other applications.

The host vehicle 104 may have one or more computers, such as an ACCcomputer system 404 (computer system) including a processor 406, amemory 408 and other components typically present in general or specialpurpose computers. In some embodiments, the ACC system 400 may includeprogrammable logic circuits and/or pre-configured logic circuits forexecuting ACC system functions. The memory 408 stores informationaccessible by processor 406 including instructions 410 and data 412 thatmay be executed or otherwise used by the processor 406. The controllogic (in this example, software instructions or computer program code),when executed by the processor 406, causes processor 406 to perform thefunctions of the embodiments as described herein. The memory 408 may beof any type capable of storing information accessible by the processor,including a computer-readable medium, or other medium that stores datathat may be read with the aid of an electronic device, such as ahard-drive, flash drive, memory card, ROM, RAM, DVD or other opticaldisks, as well as other write-capable and read-only memories. Systemsand methods may include different combinations of the foregoing, wherebydifferent portions of the instructions and data are stored on differenttypes of media.

The instructions 410 may be any set of instructions to be executeddirectly (such as machine code) or indirectly (such as scripts) by theprocessor 406. For example, the instructions may be stored as computercode on the computer-readable medium. In this regard, the terms“instructions” and “programs” may be used interchangeably herein. Theinstructions may be stored in object code format for direct processingby the processor, or in any other computer language including scripts orcollections of independent source code modules that are interpreted ondemand or compiled in advance. Functions, methods and routines of theinstructions are explained in more detail below.

Data 412 may be retrieved, stored or modified by the processor 406 inaccordance with the instructions 410. For instance, although the systemis not limited by any particular data structure, the data may be storedin computer registers, in a relational database as a table having aplurality of different fields and records, XML documents or flat files.The data may also be formatted in any computer-readable format. The datamay include any information sufficient to identify the relevantinformation, such as numbers, descriptive text, proprietary codes,references to data stored in other areas of the same memory or differentmemories (including other network locations) or information that is usedby a function to calculate the relevant data.

The processor 406 may be any known, related art or later developedprocessor. Alternatively, the processor may be a dedicated device, suchas an ASIC (application-specific integrated circuit) or DSP (digitalsignal processor). Although FIG. 4 illustrates the processor 406, memory408, and other elements of computer system 404 as being within the sameblock, it will be understood by those of ordinary skill in the art thatthe processor 406 and memory 408 may actually include multipleprocessors and memories that may or may not be stored within the samephysical housing. For example, memory 408 may be a hard drive or otherstorage media located in a housing that is different from that ofcomputer system 404. Accordingly, references to a processor or computerwill be understood to include references to a collection of processors,computers or memories that may or may not operate in parallel. Ratherthan using a single processor to perform the steps described herein,some of the components, such as steering components and decelerationcomponents, may each have their own processor that only performscalculations related to the component's specific function.

In an alternative embodiment, the processor 406 may be located remotefrom the host vehicle 104 and communicate with the vehicle wirelessly.In the embodiments, some of the processes described herein are executedon a processor disposed within the host vehicle 104, and others by aremote processor such as a processor in ACC system server 302.

Computer system 404 may include all of the components normally used inconnection with a computer, such as a central processing unit (CPU)(e.g. processor 406), the memory 408 (e.g., RAM and internal harddrives) storing data 412 and instructions 410, such as a web browser, acommunicator/annunciator such as a display device 426 (e.g., a monitorhaving a screen, a small LCD touch-screen or any other electrical devicethat is operable to display and/or audibly playout information), and auser input device 424 (e.g., a mouse, keyboard, touch screen and/ormicrophone). The computer system 404 can also include components notnormally associated with general purpose computers, such as merge eventdetection component 428 and a merge event calculator 420.

The computer system 404 may be capable of communicating with variouscomponents of the host vehicle 104. For example, computer system 404 maybe in communication with the vehicle's electronic control unit (ECU) 402and may send and receive information from the various systems of hostvehicle 104, for example a vehicle subsystem sensor system 430, avehicle communication system 432, a vehicle event sensor system 434, anda vehicle navigation system 436. ECU 402 may be configured tocommunicate with, and/or control, various components of host vehicle104. When engaged, computer system 404 may control some or all of thesefunctions of host vehicle 104. It will be understood that, althoughvarious systems and computer system 404 are shown within host vehicle104, these elements may be external to host vehicle 104 and/orphysically separated by large distances.

As indicated above, the host vehicle 104 may also include the vehiclesubsystem sensor system 430. The computer system 404 may communicatewith sensors in one or more vehicle subsystems to gather data for hostvehicle 104 speed, direction, acceleration, braking, and/or otherfactors. The vehicle subsystem sensor system 430 may include, but is notlimited to, engine oil/coolant sensing systems, transmission oil sensingsystems, brake sensing systems, steering and control sensing systems,fuel storage sensing systems, torque sensors, and speed andacceleration/deceleration sensors, inertia (yaw) sensor systems, etc.

As indicated above, the host vehicle 104 may also include the vehiclecommunication system 432. The computer system 404 may communicate withexternal communication apparatus for sending and receiving traffic data.For instance, the vehicle communication system 432 includes vehicle V2Vtransceiver 106 that can communicate with compatible DSRC transceiversin the vehicle communication network 200. As described previously inrelation to FIG. 2, the vehicle communication system 432 can include theRF transceiver 224 for communicating wirelessly to service provider 212through wireless communication network 204.

As further indicated above, the host vehicle 104 may also include thevehicle event sensor system 434 for collecting traffic data. Trafficdata can include detecting the location, orientation, heading, etc., ofentities external to the host vehicle 104, such as other vehicles,bicycles, and motorcycles, pedestrians, obstacles in the roadway 102,traffic signals, signs, wildlife, trees, or any entity that can provideinformation to ACC system 400. The traffic data can include anytransport related data, such as one or more vehicles, vehiclekinematics, roadways and/or paths, navigation, infrastructure,environmental scenarios, weather conditions, roadway conditions,terrain, and/or vehicles merging from one path into a second path.

The vehicle event sensor system 434 may collect sensor data from sensorapparatus including radar, lidar, sonar, cameras, DSRC transceivers orany other detection devices which can transmit traffic data that can beprocessed by the computer system 404. Vehicle sensor systems and DSRCcommunication systems can provide data that is processed by the computersystem 404 in real-time. In other words, the sensors may continuouslyupdate their output to reflect the traffic 130 and merging remotevehicle 110 being sensed at or over a range of time, and continuously oras-demanded to provide updated output to the computer system 404. Amerge assist calculator 420 can perform statistical and predictivecalculations to determine two or more vehicle's current position data,course heading data, course history data, projected course data,kinematic data, range or distance data, speed and acceleration data,and/or proximate traffic location data. Further, traffic data caninclude any static or dynamic data and information that are provided inprepared traffic merge models 422 that could be relevant to thefunctions of the computer system 404.

Data for a traffic merge can be classified as location based, timebased, scenario based, hazard or risk based, or another classificationor a combination of classifications. Traffic data from various sourceswithin and external to host vehicle 104 can be saved in merge assistdata 418.

As shown in FIG. 4, the memory 408 component for data 412 may includecomponents for commercial traffic data 414, a merge assist map component416, a merge event detection component 428, the traffic merge models 422and the merge assist data 418.

If desired, more detailed roadway maps and information can be generatedand saved by the merge assist map component 416 for use by the hostvehicle 104 or other vehicles confronted with merging vehicles at thesame location. Merge event map information can include maps identifyingthe shape and elevation of roadways, lane lines, intersections,crosswalks, bicycle lanes, school zones, speed limits, traffic signals,buildings, signs, real time traffic information, or other transportinformation that can be used by vehicles. For example, the mapinformation may include one or more mapped networks of information, suchas roadways, lanes, intersections, and the connections between thesefeatures. Each feature may be stored as map data, and may be associatedwith information, such as a geographic location, and whether or not itis linked to other related features, e.g., dimensions of a widened mergelane may be linked to a roadway location and an entrance ramp, etc. Data412 may also include commercial traffic data 414, which can includecommercially-available databases of transport data, traffic data,traffic schedules, and any other data that could be useful for theembodiments.

The merge event detection component 428 can include processes andinstructions 410 for detecting merging vehicle data and information. Themerge event detection component 428 can include detection of V2V signalsfrom a vehicle intending to merge into traffic and V2V signals of thetraffic vehicles.

The vehicle navigation system 436 can be interoperable with computersystem 404 to provide navigation maps and information to host vehicle104. Vehicle navigation system 436 may be any type of known, related orlater developed navigational system. The phrase “navigation information”refers to any information that can be used to assist host vehicle 104 innavigating a roadway or path. Navigation information may include trafficdata, map data, and roadway classification information data. Examples ofnavigation information can include street addresses, street names,street or address numbers, intersection information, points of interest,parks, bodies of water, any political or geographical subdivisionincluding town, township, province, prefecture, city, state, district,ZIP or postal code, and country. Navigation information can also includecommercial information including business and restaurant names,commercial districts, shopping centers, and parking facilities.Navigation information can also include geographical information,including information obtained from any Global Navigational Satelliteinfrastructure (GNSS), including Global Positioning System or Satellite(GPS), Glonass (Russian) and/or Galileo (European).

The host vehicle 104 may also include a geographic position component438 as part of vehicle navigation system 436 that may include a GPSreceiver 510 (see FIG. 5) to determine the host vehicle's latitude,longitude and/or altitude position. Other location systems, such aslaser-based localization systems, inertial-aided GPS, or camera-basedlocalization may also be used to identify an absolute or relative hostvehicle 104 location. The GPS receiver 510 may be used for gatheringadditional information associated with host vehicle 104 that includes,but is not limited to, speed, location, trajectory, distance traveled,acceleration, and other dynamic vehicle information. In alternativeembodiments, the host vehicle 104 may also include other features incommunication with the computer system 404, such as an accelerometer, agyroscope, or another direction/speed detection device to determine thedirection and speed of the vehicle or changes thereto.

Host vehicle 104 may include other apparatus for communicating, and insome cases controlling, the various components associated with vehiclesubsystems.

IV. Vehicle Systems Associated with the ACC System

FIG. 5 is a schematic showing vehicle systems 500 that can be associatedwith the ACC system 400 of FIG. 4. As shown in FIG. 5, ECU 402 cancommunicate with a data logger system 502, the vehicle subsystem 504, anACC controller 506, a navigation system 508, a vehicle sensor system516, the vehicle V2V transceiver 106, RF transceiver 224, a camera 522,and a laser 524.

In the embodiments, data logger system 502 may communicate with ECU 402to acquire and log data collected from any of the vehicle systems andsubsystems. Data relevant to ACC system 400 includes, but is not limitedto, navigation data, sensor data, radar data, multimedia data, such asimages or video streams, audio information, scanner data, etc.

In some embodiments, ECU 402 may be configured to receive instructionsfrom the computer system 404 for commands to the ACC controller 506, forexample, to activate or suppress a brake or accelerator, etc.

Host vehicle 104 can include the navigation system 508 that isconfigured to be in communication with ECU 402 and perform the functionsof vehicle navigation system 436. Navigation system 508 may include anavigation system display 512, and can store map and locationinformation in a navigation database 514. Navigation system display 512may display navigational maps and information to a user using any typeof display technology known or presently unknown in the art. Navigationsystem display 512 may also communicate information to host vehicle 104using any type of known, related art or later developed audiotechnology, such as by using predetermined sounds or electronicallygenerated speech.

In an embodiment, the sensor system 516 can communicate with ECU 402 andany number of vehicle sensor devices in any configuration, such assensor 518, radar system 520, camera 522, and laser 524, disposed at anybeneficial area of host vehicle 104. Sensor system 516 may communicatewith multiple devices that assist in collecting data including, but notlimited to, sensors 518 that can collect data for vehicle speed,steering, and inertia (yaw) relative to gravity or a perpendicular planeto gravity. Although one sensor 518 is shown in FIG. 5, it is understoodthat sensor 518 is a representation of one or more sensors installedwithin or outside of host vehicle 104. Other embodiments of sensors 518can collect proximity data using rear, front, and side proximitydetection sensors 518. The sensor system 516 devices can be advantageousby collecting data for identification and tracking the movement oftraffic entities such as motorcycle and vehicular traffic, or any othercondition, entity, or vehicle that could provide data.

FIG. 5 also shows the V2V transceiver 106 of host vehicle 104 forcommunicating with other V2V compatible vehicles. In an embodiment, V2Vtransceiver 106 can collect traffic data from other DSRC transceiversthat can be configured for a vehicle, pedestrian, bicycle, building,tower, billboard, traffic signal, roadway sign, or any transport relatedentity or user. A display operationally connected to a DSRC transceivercan also display any messages, maps, vehicle locations, data, images,alerts, and warnings transmitted to or received from DSRC users invehicle communication network 200. A communications link between DSRCtransceivers may be initiated by any user. In the embodiments, a DSRCtransceiver may continuously search for signals from other DSRCtransceivers, such as by emitting a periodic signal that searches for areply. In other embodiments, a DSRC transceiver may emit periodicsignals searching for a reply from an in-range DSRC transceiver. If aDSRC transceiver replies, then a communications link may be established.Information and data received by V2V transceiver 106 can be saved todata logger system 502 and/or merge assist data 418 and processed bycomputer system 404.

V. Vehicle Interior

FIG. 6 is a schematic of an exemplary design of a vehicle interior 600associated with the ACC system 400 of FIG. 4. The vehicle interior 600may include, for example, a dashboard 602, a steering apparatus such asa steering wheel 604, an instrument panel 606, and a center portion 608.Center portion 608 can include one or more devices associated with theinterior of the vehicle, including but are not limited to: audiodevices, video devices, navigation devices, as well as any other typesof devices. In addition, center portion 608 can be associated withcontrols for one or more systems of host vehicle 104 including, but notlimited to: climate control systems, radio and sound systems, and othertypes of systems. The host vehicle 104 may also have a display device610 for displaying information from ACC system 400, and/or other relatedor unrelated vehicular systems. In some embodiments, host vehicle 104can include a driver vehicle interface 612 that may include the displaydevice 610. Examples of display device 610 include, but are not limitedto, LCDs, CRTs, ELDs, LEDs, OLEDs, or electronic paper displays eachwith or without a touchscreen, as well as other types of displays.Display device 610 can include a touchscreen for use as the user inputdevice 424 for activating or deactivating one or ACC system modes, andfor enabling a user to provide information, such as navigationdestination or traffic information, to the computer system 404.

In alternative embodiments, driver vehicle interface 612 can includebuttons, a keypad, or other types of input devices 424. In anotherembodiment, driver vehicle interface 612 can include a heads upprojection type display that is configured to project an image onto oneor more surfaces of host vehicle 104, such as windshield 614. In someembodiments, display device 610 can be located in any portion of hostvehicle 104, or can be a portable device. For example, display device610 can be located within instrument panel 606.

In addition, while display device 610 can be configured to presentvisual information for computer system 404, display device 610 can beshared with other devices or systems within host vehicle 104 such asvehicle navigation system 436. In an example, display device 610 maydisplay traffic information, alerts, driving information, and navigationmaps to a vehicle operator.

A driver vehicle interface may inform a driver with visual or auditoryalerts or information of a predicted traffic merge by another vehicle.For example, display device 610 can be configured to display mergealerts and traffic data related to merging remote vehicle 110 andproximate traffic 130 when the remote vehicle 110 is heading in atrajectory that would affect the operation of host vehicle 104.

VI. Methods of Operation

FIG. 1 shows an overhead view of the traffic scenario 100. The vehicles,locations, and other data related to traffic scenarios at roadway 102can be the subject of digital navigation maps generated by the mergeassist map component 416 for integration with the digital vehiclenavigation system 436 for display on display device 426. The roadway 102is merely provided as an exemplary roadway or path in order toillustrate embodiments of ACC system 400 and is not intended to belimiting.

Exemplary aspects of roadway 102 include three lanes of a dividedhighway with an entrance ramp 108 that allows vehicles to merge into theroadway 102. The embodiments, however, are not limited by a specificentrance ramp or merge lane and are intended to include any type ofvehicular merging activity where a vehicle enters into a path orproximate to a path of one or more moving vehicles.

ACC system 400 can be configured to collect real time traffic data at ornear roadway 102 from multiple sources in host vehicle 104 using DSRCcommunication, for example V2V signals from other vehicles, vehicleevent sensor system 434, navigation system 508, and/or user input oninput device 424 into merge assist data 418. Alternatively, ACC system400 can upload merge assist data 418 from host vehicle 104 to serviceprovider traffic data database 306 for use by other vehicles byaccessing the data through vehicle communication network 200.

To accommodate a vehicle merging into congested traffic, each ACC system400 can be configured to detect likely driving maneuvers and react withhost vehicle 104 controls that minimize negative driving effects ofcongested traffic and/or a merging vehicle. In an embodiment, the mergeassist calculator 420 may be utilized by computer system 404 to analyzeor calculate real-time location, speed, acceleration/deceleration, andheading of remote vehicle 110 using data received via DSRC V2Vcommunications and/or vehicle event sensor system 434. The merge assistcalculator 420 can determine the relative speed of the merging remotevehicle 110 as compared to the speed of the traffic 130 and host vehicle104. The merge assist calculator 420 can also generate a prediction asto whether the merging remote vehicle 110 will affect the speed oftraffic 130, or whether traffic 130 will affect the speed of remotevehicle 110. Based on the prediction analysis, ACC system 400 can beconfigured to control host vehicle 104 systems via the ACC controller506 for responding to any slowdown of vehicles in the immediate path ofthe host vehicle 104.

In an embodiment, merge assist calculator 420 may use one or moreequations that are derived using Bayes' Theorem or Bayesian Rule toperform calculations and generate traffic predictions. Generally, Bayes'Theorem relates the conditional and marginal probabilities of variousrandom events. Using a Bayesian Rule, probabilities of different eventsoccurring may be determined given certain observed scenarios. As aresult, the probability of an event occurring generally increases asmore prior information from observed scenarios is provided. The mergeassist calculator 420 may use a Bayesian Rule to combine the variousprobabilities determined based on conditions associated with any of thedata 412 for traffic behaviors and a vehicle merging into the traffic.

While some of the embodiments are based on an application of Bayes'Theorem, other embodiments are intended to include or otherwise coverother calculation methods by the merge event calculator 420. The mergeevent calculator 420 may utilize empirical assumptions, fuzzy logic,neural network applications, analysis of variance (ANOVA), discriminantanalysis, or any other appropriate analytical and/or statistical methodsto perform data analysis.

Alternatively or simultaneously, with a deceleration and/or braking ofhost vehicle, the ACC system 400 may generate information, suggestions,warnings, and/or alerts and provide the same to a vehicle operator ondisplay device 426. The information, warnings, etc., can include, butare not limited to, one or more navigation maps, symbols, icons,graphics, colors, images, photographs, videos, text, audibleinformation, etc.

FIG. 7 is a flowchart of an exemplary method 700 to control host vehicle104 before and during the entire process of remote vehicle 110 merginginto roadway 102. The exemplary method 700 can be implemented partiallyor entirely using the embodiments for devices and systems described inFIGS. 1 through FIG. 6. The devices, systems, and methods of theembodiments can be applied to driving conditions illustrated in a firsttraffic scenario in FIG. 8, a second traffic scenario illustrated inFIG. 9, and a third traffic scenario in FIG. 10. However, the devices,systems, and methods of the embodiments may be applied to otherembodiments, vehicles, driving conditions, traffic scenarios, etc.

The method 700 may include block 702 to activate the ACC system 400 inhost vehicle 104 either automatically based on a preset trigger ormanually by a user, vehicle operator, etc. Activating the ACC system 400can include activating DSRV V2V transceiver 106. In block 704 the ACCsystem 400 may detect, using merge event detection component 428, theremote vehicle 110 traveling on entrance ramp 108. Detection methods caninclude vehicle communication system 432 receiving V2V messages fromremote vehicle 110 that contain data indicating location, accelerationin speed, and a heading towards roadway 102. Calculations of a predictedpath of travel of remote vehicle 110 can be made by merge assistcalculator 420 using Bayesian statistics or any known method.

The method 700 may further include block 706 to detect, using the mergeevent detection component 428, the location and speed of vehicles intraffic 130 on roadway 102. Detection of each traffic vehicle's speed,location, and movement can be determined by analyzing data in DSRC V2Vmessages received from first, second and third traffic vehicles 114,118, and 122. Alternatively, vehicular traffic 130 data in DSRC messagescould be received by RSE 132, and the messages re-broadcast in V2Imessages that can be received and analyzed by the ACC system 400. An RSEre-broadcast of traffic 130 data could be beneficial if host vehicle 104was out of range to detect DSRC signals of one or more traffic 130vehicles, such as vehicles at or near the front of traffic congestion(e.g., traffic vehicle 114). Speed, location, and other vehicular datafor the fourth traffic vehicle 126 and the fifth traffic vehicle 126 maybe collected, if possible, using line-of-sight sensors such as the radarsystem 520, the camera 522, or other sensors controlled by vehicle eventsensor system 434.

The method 700 may further include block 708 to analyze vehicular databy computer system 404 that includes, but is not limited to, the speed,acceleration, location, heading, etc., of remote vehicle 110 and traffic130. The merge assist calculator 420 can analyze the remote vehicle's110 speed and geographic location data and compare to the speed andgeographic location data of vehicles in traffic 130.

FIG. 8 is a first traffic scenario 800 using the transportationinfrastructure of FIG. 1 and the vehicle communication network of FIG. 2to illustrate the embodiments. The host vehicle 104 can receive DSRC V2Vsignals from remote vehicle 110, first traffic vehicle 114, secondtraffic vehicle 118, and third traffic vehicle 122. The exemplary methodcan use traffic merge models 422 to calculate a likelihood of whetherfourth traffic vehicle and/or 126 fifth traffic vehicle 128 willaccelerate or decelerate according to the behavior of the DSRC equippedvehicles. Radar system 520 and/or camera 522 can be used to track theactual traffic vehicle movements, when possible.

In the first traffic scenario 800, roadway 102 is congested with traffic130. Remote vehicle 110 travels along a path of entrance ramp 108intending to merge into roadway 102. A merge by remote vehicle 110 infront of traffic 130 can cause the traffic vehicles to brake and slowdown as the remote vehicle 110 progresses through the merge procedure.For example, if the remote vehicle 110 enters roadway 102 ahead oftraffic vehicle 114, and the relative speed of the remote vehicle 110 isslower than the traffic vehicle 114, then traffic vehicle 114 will beforced to brake and slow down. Other traffic vehicles behind andadjacent to traffic 114 will likely brake and slow down as well.Alternatively, traffic vehicle 114 may apply brakes to allow remotevehicle 110 to merge ahead of traffic 130. In either example, theoperator of host vehicle 104 may not be able to visually detect theactions of traffic vehicle 114, which is at the head of traffic 130, dueto distance and/or intervening traffic vehicle 118 obscuring the view.Sudden braking by traffic vehicle 114, which is the lead vehicle in thecongestion, may also cause some or all vehicles in traffic 130 to applybrakes and quickly slow down in a chain reaction effect. Traffic vehicle118, reacting to the traffic vehicle 114, may be forced to perform ahard braking action to avoid a collision with traffic vehicle 114.Likewise, host vehicle 104, approaching traffic vehicle 118 from behind,may be forced to perform an unexpected hard braking action or perform anemergency lane change in order to avoid a collision with traffic vehicle118.

To address these and other problems, the embodiments of ACC system 400can generate a prediction as to whether the traffic 130 will slow downdue to remote vehicle 110 merging ahead of traffic 130. The ACC system400 can further determine to control an early automatic or assisteddeceleration of host vehicle 104 before it encounters traffic 130.

For the first traffic scenario 800, the method 700 may also includeblock 710 where merge assist calculator 420 uses the real time vehiculardata to determine whether remote vehicle 110 will enter roadway 102ahead of preceding traffic 130. If host vehicle 110 will merge intoroadway ahead of traffic 130, then in block 712 the merge assistcalculator 420 determines whether remote vehicle 110 will slow thepreceding traffic 130. The analysis may be performed by any known orcurrently unknown statistical method. In an embodiment, if a relativespeed of merging remote vehicle 110 is slower than traffic 130, themerge assist calculator predicts in block 716 that the remote vehicle110 merge will cause one or more traffic vehicles in traffic 130 to slowdown. Using display device 426, the computer system 404 can alert orinform an operator of host vehicle 104 the anticipated traffic slowdown.

In block 718, in the anticipation of slowing traffic 130, the computersystem 404 instructs ACC System 400 to automatically decelerate the hostvehicle 104. In an embodiment, the ACC system 400 can gradually reducespeed of host vehicle 104 by either controlling the vehicle'saccelerator or by actuating the vehicle's brake system. The decelerationof host vehicle 104 prior to or during the merge of remote vehicle 110can avoid a sudden, hard braking action or an emergency lane change bythe operator of host vehicle 104 in order to avoid a collision withtraffic vehicle 118. It can be advantageous to gradually decelerate hostvehicle 104 to provide the vehicle operator a safer and more pleasantdriving experience.

Alternatively or simultaneously, in block 720 the computer system 404can generate an informing alert on display device 426 to advise hostvehicle 104 to change the current lane or path to a lane or path that isless likely to be affected by traffic 130. The calculation for a lanechange recommendation can be performed by the merge assist calculator420 using any known method.

However, if the merge assist calculator 420 predicts that traffic 130will not be affected by remote vehicle 110, then in block 714 thecomputer system 404 maintains current cruising speed of host vehicle104.

In block 710, if the merge assist calculator determines that the mergingremote vehicle 110 will not enter roadway 102 ahead of precedingtraffic, then the exemplary method proceeds to block 722 which isillustrated by the scenario of FIG. 9.

FIG. 9 is a second traffic scenario 900 to illustrate the embodimentsusing the transportation infrastructure of FIG. 1 and the vehiclecommunication network 200 of FIG. 2. In the second traffic scenario 900,remote vehicle 110 travels along a path on entrance ramp 108 intendingto merge into roadway 102. As remote vehicle 110 enters roadway 102,congestion of traffic 130 may force remote vehicle 110 to brake and slowdown during the merge. As it approaches the remote vehicle 110, the hostvehicle 104 may be forced to perform a hard braking action or emergencylane change in order to avoid a collision. To address these and otherproblems, the embodiments of ACC system 400 can estimate congestion ofpreceding traffic 130 and anticipate a likelihood of whether the remotevehicle 110 will slow down due after entering roadway 102.

As remote vehicle 110 approaches the roadway 102, in block 722 the mergeassist calculator 420 uses real time V2V data to estimate the speed oftraffic 130 and determine whether the preceding traffic 130 will slowthe acceleration of remote vehicle 110. Analysis of the traffic speedscan be performed by any known method. To collect data for the fourthtraffic vehicle 126 and the fifth traffic vehicle 128 that are notconfigured with DSRC communications, computer system 404 can instructECU 402 to activate vehicle event sensor system 434 to collect radardata from radar system 520 for all traffic vehicles within range ofdetection. If the analysis results in a likelihood of remote vehicle 110entering roadway 102 at a higher speed than traffic 130, the mergeassist calculator 420 can generate a prediction to the ACC system 400that remote vehicle 110 will quickly decelerate in front of host vehicle104.

In block 726, the computer system 404 can respond by instructing the ACCSystem 400 to begin automatically decelerating the host vehicle 104. Inan embodiment, the ACC system 400 can gradually reduce the speed of hostvehicle 104 by controlling the vehicle's accelerator or alternatively byactuating the host vehicle's brake system. The deceleration of hostvehicle 104 prior to or during the merge of remote vehicle 110 can avoida sudden, hard braking action or an emergency lane change by theoperator of host vehicle 104. It can also be advantageous to graduallydecelerate host vehicle 104 to provide the vehicle operator a safer andmore pleasant driving experience.

Alternatively or simultaneously, in block 720 the computer system 404can generate an informing alert on display device 426 to advise theoperator of host vehicle 104 to change the current lane or path to alane or path that is less likely to be affected by remote vehicle 110.The calculation for a lane change recommendation can be performed bymerge assist calculator 420 using any known method.

In block 722, if the merge assist calculator 420 determines a likelihoodthat preceding traffic 130 will not slow the merging remote vehicle 110,the method 700 proceeds to block 728 that is disclosed in relation toFIG. 10.

FIG. 10 is a third traffic scenario 1000 to illustrate the embodimentsusing the transportation infrastructure of FIG. 1 and the vehiclecommunication network 200 of FIG. 2. In the third traffic scenario 1000,relatively light traffic 130 is traveling on roadway 102 as compared tothe first traffic scenario 800 second traffic scenario 900. Vehicle datafor traffic vehicle 126 can be collected via V2V communications, anddata for the fifth traffic vehicle 128 can be collected using radarsystem 520 or other sensors. As remote vehicle 110 merges in front ofhost vehicle 104, a typical vehicle driving system may detect remotevehicle 110 in close proximity of host vehicle 104 and automaticallyactuate decelerate the host vehicle 104.

To address these and other problems, in block 728, merge assistcalculator 420 determines the speed of traffic 130 and whether theremote vehicle 110 is accelerating during the entire duration of themerge. If the remote vehicle 110 ceases accelerating, then in block 730the merge event detection component 428 continues to detect and monitorthe speed, heading, and movement of remote vehicle 110 via V2Vcommunications. Based on the real time data, merge assist calculator 420can determine if other actions may be necessary to avoid a collisionwith remote vehicle 110.

If the remote vehicle 110 continues to accelerate ahead of host vehicle104, then in block 732 the merge assist calculator 420 uses the realtime V2V data to determine that the merging remote vehicle 110 will moveahead of host vehicle 104 without being impeded by traffic 130. Analysisof the traffic conditions can be performed by any known method includingBayesian statistics described above. In block 734, computer system 404instructs ACC System 400 to automatically suppress the brake system ofthe host vehicle 104 while remote vehicle accelerates away from the hostvehicle 104. The suppression of the host vehicle's brake system iscounterintuitive to actions of typical vehicle control systems thatwould slow host vehicle 104 as it approaches behind remote vehicle 110.However, since the computer system 404 anticipates that the speed andsparse volume of traffic 130 will not impede the acceleration of remotevehicle 110 during the merge, the ACC system 400 can maintain thecurrent speed of host vehicle 104. As described in block 730, the ACCsystem 400 can continue monitoring remote vehicle 110 via V2Vcommunications and vehicle event sensor system 434 in order to respondto any deceleration or unexpected vehicle movements during the durationof the merge.

Alternatively or simultaneously, in block 734 the computer system 404can issue a warning or alert on display device 426 to advise theoperator of host vehicle 104 to change the current lane or path to alane or path that is less likely to be affected by remote vehicle 110.

VII. Detecting and Warning a Tailgating Vehicle

The embodiments include an exemplary system and method for detecting atailgating vehicle (e.g., a tailgater) as well as systems and methodsthat can be utilized in responding to the tailgater. In the followingdisclosure, a tailgating vehicle is intended to cover or otherwise referto a vehicle following the subject vehicle and separated by a distancethat is sufficiently small to warrant further analysis for variousreasons. For example, as disclosed below, it may be beneficial to avoidimmediate and hard braking of the subject vehicle to reduce thelikelihood of the following vehicle rear ending the subject vehicle.

In an embodiment, a tailgating vehicle disposed in the same lane (orotherwise generally longitudinally aligned, or aligned in the samedirection of travel), but behind the host vehicle 104 can be detected asa tailgater based on one or more factors, such as distance between thevehicles and/or a speed threshold. After a potential tailgating vehiclehas been detected, the ACC system 400 of the host vehicle 104 mayprovide one or more notifications to the tailgating vehicle that includevisual indicators from one or more brake light profiles that can beperceived as a warning to a driver of the tailgating vehicle that thevehicle is in fact tailgating.

As disclosed above, the ACC system 400 may also detect, using mergeevent detection component 428, that the remote vehicle 110 is travelingon entrance ramp 108. Calculations of a predicted path of travel ofremote vehicle 110 can be made by merge assist calculator 420 usingBayesian statistics or any known method. If the remote vehicle 110 ispredicted to merge into the path directly in front of the host vehicle104, then the ACC computer system 404 can define the remote vehicle 110as a potential lead vehicle. If the remote vehicle 110 merges directlyin front of the host vehicle 104, then the ACC computer system definesthe remote vehicle 110 as the lead vehicle.

After a tailgating vehicle and a lead vehicle (the remote vehicle 110)have been detected and defined, the ACC computer system 404 candetermine a safe time headway distance between the host vehicle 104 andthe remote vehicle 110. The ACC system 400 can thereby control adeceleration of the host vehicle 104 to increase the time headway to asafe following distance, as described more fully below.

Headway can be defined as the distance between a first vehicle and asecond vehicle in front of the first vehicle on a road or path. A timeheadway distance can be defined as a measurement of the time past a setpoint between a first and second vehicle on the road or path. The timeheadway distance calculations of the embodiments can include presettimes and/or distances that can be selectively determined based upon oneor more factors that can affect braking distance and/or driver reactiontime for braking such as but not limited to speed (e.g., slower speedsrequire less distance to stop), road conditions (e.g., snow or watercovered roads 102 can require more time to stop), weather conditions(e.g., rain can affect driver perception), road topography (e.g., curvesor hills can require more lead time to stop), etc., or any othercondition that can affect vehicle braking and/or driver reaction. Forexample, a safe time headway distance can depend on one or more adaptivefactors, such as but not limited to a tailgating vehicle speed, the hostvehicle 104 speed, the remote vehicle 110 speed, and a distance betweenthe host vehicle and the remote vehicle 110.

Increasing the time headway distance can result in a longer followingdistance to the lead vehicle from a host vehicle that will enablegreater lead time for the host vehicle to begin braking in the event ofa slowdown. As a result, the tailgater can be provided with theopportunity to perceive the visual indicators and advantageously havemore lead time to slow down in the event of hard braking by the hostvehicle 104, thereby preventing or reducing surprise and a potentialrear-end collision.

The data component 412 of the ACC computer system 404 can storetailgater data including speed, detection, predetermined thresholddistance and speed data, brake light profiles, and other additionaldata. The data 412 can include calculations for various preset and/oradaptive distance and speed thresholds. In an embodiment, a tailgatermay be detected by one or more threshold distances WD_(n) (warningdistance). In an example, the one or more warning distances could bemultipliers of a vehicle length. In another example, the one or morewarning distances may depend on a distance required to brake at acertain speed as determined by government, commercial, and/or empiricaldata. The threshold warning distances WD_(n) may be selectivelydetermined based upon one or more factors that can affect brakingdistance and driver reaction time for braking as described above.

Exemplary embodiments are intended to cover execution of operationsdescribed above and illustrated in the figures, and various operationsdescribed below. Some of the steps in the embodiments can be omitted, asdesired, or executed in a different order than the order of stepsdescribed herein.

As described above, the ACC system 400 of the host vehicle 104 candetect and define other vehicles on the road 102. The ACC system 400 mayuse one or more sensors of the vehicle subsystem sensor system 430, suchas one or more of the radar system 520, camera 522, and laser 524,disposed at any beneficial area of host vehicle 104 that can detect andmonitor vehicles disposed in front of, or behind, the host vehicle 104in a traffic lane. The host vehicle 104 can also receive DSRC V2Vsignals providing location, speed, trajectory information, etc. fromother DSRC enabled vehicles disposed in front of, or behind, the hostvehicle 104. Using the data collected from the above sensors and/orsystems, the ACC computer system 404 can calculate locations, relativedistances, trajectory, speeds, acceleration, etc. of other vehicles onthe road 102.

FIG. 11 is a schematic of a fourth traffic scenario for illustrating theadaptive cruise control system of FIG. 4, which is directed to detectingand responding to a tailgating vehicle.

The fourth traffic scenario 1100 can utilize the transportationinfrastructure of FIG. 1 and the vehicle communication network of FIG.2. The fourth traffic scenario 1100 can include a center lane 1102,within which the host vehicle 104, the remote vehicle 110 (e.g., leadvehicle), and the tailgating vehicle 1110 (e.g., tailgater) travelthereon. In the embodiment, the host vehicle 104 is driving with the ACCcomputer system 404 activated. The ACC computer system 404 can detectthe remote vehicle 110 and the tailgating vehicle 1110 using sensor datareceived from the vehicle event sensor system 434 that operationallycontrols the vehicle sensor system 516 and the host vehicle's varioussensors. If vehicles are equipped with DSRC systems, then the hostvehicle 104 can communicate DSRC V2V signals with the remote vehicle 110and the tailgating vehicle 1110 and to receive vehicle data.

The ACC computer system 404 can detect a vehicle that could be apossible tailgater to the host vehicle 104 and determine whether thepossible tailgater is actually tailgating the host vehicle 104.Detection of the tailgating vehicle 1110 can include vehicles that arein the same lane 1102 as the host vehicle 104 but disposed behind thehost vehicle 104. In the scenario 1100, after merging onto the road 102,the remote vehicle 110 is disposed in front of the host vehicle 104, andthe tailgating vehicle 1110 is disposed behind the host vehicle 104 inlane 1102. As detailed more fully below, the ACC computer system 404 candetect whether the tailgating vehicle 1110 is a potential tailgatingvehicle and determine whether the tailgating vehicle 1110 is actually atailgater. This can include the ACC computer system 404 determining orpreselecting various distances based between the host vehicle 104 andthe tailgating vehicle 1110 as threshold distances that can be adaptablebased on speed or other factors listed herein.

The distance D2 between the host vehicle 104 and the tailgating vehicle1110 can be defined as one or more warning distances that can: a)determine whether a potential tailgater is a tailgating vehicle, and b)determine what type of visual notification can be displayed to atailgating vehicle as a warning to the driver. The distance D2 can bemeasured between the vehicles' closest point of contact in the case of apotential collision, i.e., from a rear bumper of the host vehicle 104 toa front bumper of the tailgating vehicle 1110.

As shown in FIG. 11, a warning distance can be defined as one or morethreshold distances behind the host vehicle 104, which can includegraduated distances behind the host vehicle 104. The ACC computer system404 may define the threshold distances WD_(n) as a function of speed,road conditions, vehicle braking factors, time between vehicles, etc.,as described in relation to braking factors above. In an example, athreshold distance WD1 can be defined as a first time or distance, athreshold distance WD2 can be defined as a second time or distance, andWD3 can be defined as a third time or distance. In further example, atime can be calculated to constitute a time that it would take for thetailgating vehicle 1110 traveling a threshold speed S_(TH) above thespeed of the host vehicle 104 to come to a complete stop during a hardbraking event.

The tailgating vehicle 1110 can be defined as a tailgater if the vehicleis disposed behind the host vehicle within one or more of the warningdistances WD_(n). The ACC computer system 404 can also determine if apotential tailgater is approaching the host vehicle 104 from behind atan increased rate of speed, for example a speed greater than the speedthreshold S_(TH), before the vehicle reaches a tailgating distancethreshold, for example warning distance WD2. The warning distance WD3can be selected at a greater relative distance than the distances WD1and WD2. If the tailgating vehicle 1110 is traveling in lane 1102 at orabove the speed threshold S_(TH) and crosses the selective warningdistance WD3, then the tailgating vehicle 1110 can be defined as atailgating vehicle based on the increased speed and disposition ofquickly approaching the host vehicle 104 from behind.

After the tailgating vehicle 1110 has been defined as a tailgater, theACC computer system 404 can preemptively increase the headway distanceD1 between the host vehicle 104 and the remote vehicle 110 to apredetermined distance. In this scenario, the distance D1 can becalculated by any known or future-developed algorithms by the ACCcomputer system 404 with factors that include, but are not limited to,host vehicle 104 speed, remote vehicle 110 speed, tailgating vehicle1110 speed, the warning distance between host vehicle 104 and thetailgating vehicle 1110, a road load of the host vehicle 104, roadgrade, etc. By preemptively increasing the following distance D1 afterdetection of the tailgating vehicle 1110, if hard braking occurs by thelead/remote vehicle 110, the ACC computer system 404 can advantageouslyapply less braking force to, and/or decelerate, the host vehicle 104.Alternatively, the increase in following distance D1 advantageouslyprovides a driver of the host vehicle 104 additional time to apply abraking force and/or decelerate in reaction to hard braking by theremote vehicle 110. An increase of the following distance D1 when thetailgating vehicle 1110 is detected can also be beneficial to thetailgating vehicle 1110. The lighter braking force that can be appliedby the host vehicle 104 in reaction to hard braking by the remotevehicle 100 can provide the tailgating vehicle 1110 additional time toreact to hard braking event, thereby reducing risk of a collision.

In the scenario in FIG. 11, if the remote vehicle 110 initiates hardbraking, the ACC computer control system 404 can execute a brakingcommand or alternatively execute a deceleration command to the hostvehicle 104, which can be executed by mechanical systems to slow thehost vehicle 104. Based on an amount of braking force or deceleration byhost vehicle 104, the ACC control system 404 can provide one or moreindicators of the braking or deceleration to any vehicle to the rear ofthe host vehicle 104, such as the tailgating vehicle 1110. For example,a notification of hard braking by the remote vehicle 110 and/or brakingor deceleration by the host vehicle 104 could be transmitted by the ACCcomputer system 404 to the host vehicle's display device 610 as a visualwarning on screen or audible warning from a speaker. In another example,a notification of hard braking by the remote vehicle 110 and/or brakingor deceleration by the host vehicle 104 could be transmitted by the ACCcomputer system 404 to the tailgater's DSRC system as a visual warningon screen or audible warning from a speaker. In an alternativeembodiment, another example of a visual warning indicator can include anexternal indicator that includes, but is not limited to, one or morelights, such as brake lights, that can be oriented to illuminate towardsthe rear of the host vehicle 104 in order to gain the attention of adriver of the tailgating vehicle 1110. In other alternative embodiments,one or more profiles of an external indicator can include increasing ordecreasing the intensity of the brake lights, increasing or decreasingthe number of light sources in a multi-light source brake light, etc.This increase or decrease in an intensity of warning indicators candepend upon, for example, amount of hard braking by the remote vehicle104, an amount of braking or deceleration by the host vehicle 104, atailgating data factor, such as a distance D2 of the tailgating vehicle1110 to the host vehicle 104, or any other factor that could bebeneficial to provide a warning the tailgating vehicle 1110. In anembodiment, an increase in a number of indicator lights can indicatestronger braking by the host vehicle 104.

FIGS. 12A, 12B, and 12C are schematics of a rear of the host vehicle 104displaying various warning indicators. In the alternative embodimentsfor displaying warning indicators towards the rear of the host vehicle104, the host vehicle 104 can include a pair of rear brake lights 1200.Each brake light 1200 can include a preconfigured set of individuallights (e.g., LED lights, incandescent lights, etc.) arranged in apattern (e.g., three rows by three column matrix). Each brake light 1200can include a first column of lights 1202, a second column of lights1204, and a third column of lights 1206. The number of lights andarrangement are merely exemplary, and the alternative embodiments caninclude greater or fewer lights arranged in any arrangement that can beused to execute functions of the warning profiles. In one profileexample, the profiles of flashing brake light intensity can correspondto the remote vehicle 110 being defined as a tailgater disposed withinone or more of the threshold warning distances WD_(n), speed of thetailgating remote vehicle 110, or any corresponding tailgating data asdesired.

In a first profile for a minimum warning indicator illustrated in FIG.12A, the light columns 1202 and 1206 can begin flashing two of threeindividual lights, and a third column 1204 does not flash. In a secondprofile for a medium warning indicator illustrated in FIG. 12B, thelight columns 1202 and 1206 can flash all of the individual lights andthe third column 1204 can flash a single individual light. In a thirdprofile for a maximum warning indicator illustrated in FIG. 12C, alllights in columns 1202, 1204, and 1206 can flash as the warningindicator.

Once the tailgating vehicle 1110 has been detected and defined, and theACC computer system 404 detects whether the remote vehicle 110 isdisposed in front of the host vehicle 104 in lane 1102, and the ACCcomputer system 404 can automatically and preemptively increase the timeheadway distance D1 between the host vehicle 104 and the remote vehicle110. The increased time headway distance results in a longer followingdistance from the remote vehicle 110. In a situation of a hard brakingevent produced by the remote vehicle 110, the increased time headway canenable the host vehicle 104 to start braking sooner, which can give moretime to the tailgating vehicle 1110 to react and start slowing down aswell, thus preventing a surprise and potential rear-end collision.

In the embodiments, the ACC system 400 controls can be actively modifiedbased on tailgating data during an event. If tailgating vehicle 1110 istailgating, then the ACC system 400 can react with a quicker responsethan a human driver and will not require a higher deceleration of thehost vehicle 104, thereby preventing (or reducing the likelihood of) apotential rear-end collision. In an alternative embodiment, if the ACCsystem 400 is not operational, then a forward collision warning can bequickly displayed to the host vehicle driver so as to warn the hostvehicle driver to react earlier to the remote vehicle 110 and therebyprevent hard braking. The ACC computer system 404 operation can becombined with constantly updated time headway distance data D1 when theremote vehicle 110 is disposed in front of the host vehicle 104, suchthat the smaller the time headway distance, or the higher decelerationof the remote vehicle 110, the tailgating warnings to the tailgatingvehicle 1110 can become more aggressive.

FIGS. 13A and 13B are exemplary flowcharts of an exemplary method todetect and react to the tailgating vehicle 1110. The steps of theexemplary method 1300 may be performed by the ACC system 400 of the hostvehicle 104. In this example, in block 1302, the ACC computer system 404can detect the tailgating vehicle 1110 as a potential tailgater. Atblock 1304, the speed S_(TV) of the tailgating vehicle 1110 can bedetermined using one of the methods described above including but notlimited to DSRC communications. In block 1306, the ACC computer system404 can calculate a distance D2 between the host vehicle 104 and thepotential tailgating vehicle 1110. In block 1308, the ACC computersystem 404 can calculate if the distance D2 is less than or equal to thethreshold warning distance WD2. If yes, then in block 1310 the potentialtailgating vehicle 1110 is defined as a tailgater. If no, then in block1310 the ACC computer system 404 can determine if the tailgating vehicle1110 speed S_(TV) is greater than a threshold increased speed S_(TH). Ifno, then the operation returns to block 1302 to detect the tailgatingvehicle 1110 as a potential tailgater. If yes, then in block 1314 theACC computer system 404 can determine if the distance D2 is less than orequal to warning distance WD3. If yes, the operation proceeds to block1310 to define the tailgating vehicle 1110 as a tailgater since thecurrent speed of the tailgating vehicle 1110 S_(RV) is high enough thata quick approach by the tailgating vehicle 1110 to the rear of the hostvehicle 104 is impending.

In the alternative embodiments, once the tailgating vehicle 1110 hasbeen defined as a tailgater, then the operation can proceed to FIG. 13Bto issue warnings to the tailgating vehicle 1110. In block 1316, the ACCcomputer system 404 can determine if the tailgating vehicle 1110 hascrossed a threshold warning distance WD3 by calculating if D2 is lessthan or equal to WD3 but greater than WD2. If yes, then the ACC computersystem 404 can initiate a minimum warning profile in block 1318 byflashing the minimum tailgater warning brake lights as described forFIG. 12A. Thereafter, the operation returns to block 1316. If no, thenin block 1320 the ACC system can determine if the tailgating vehicle1110 has crossed the threshold distance for warning distance WD2 bycalculating if distance D2 is less than or equal to warning distance WD2but greater than warning distance WD1. If yes, then the ACC computersystem 404 can initiate a medium warning profile in block 1322 byflashing the medium tailgater warning brake lights as described for FIG.12B. Thereafter, the operation returns to block 1316. If no, then inblock 1324 the ACC system can determine if the tailgating vehicle 1110has crossed the threshold distance for warning distance WD1 bycalculating if distance D2 is less than or equal to warning distanceWD1. If yes, then the ACC computer system 404 can initiate a maximumwarning profile in block 1326 by flashing the maximum tailgater warningbrake lights as described for FIG. 12C. Thereafter, the operationreturns to block 1316. If no, then the tailgating vehicle 1110 is nolonger in a tailgating disposition and the operation returns to block1302 to detect a potential tailgater.

Returning to block 1310, after the tailgating vehicle 1110 has beendefined as a tailgater; the operation simultaneously, or alternatively,proceeds to block 1328 to determine if the remote vehicle 110 isdisposed in front of the host vehicle 104 as a lead vehicle. If yes,then in block 1330 the ACC computer system 404 can determine the timeheadway distance D1 between the host vehicle 104 and the remote vehicle110. In block 1332, the ACC computer system 404 can determine, based ontailgating data 412, a minimum safe headway distance D1 for the hostvehicle 104. In block 1334, the ACC computer system 404 can calculate ifthe current distance D1 is less than the minimum safe time headwaydistance. If no, then the curdirent D1 is a safe time headway distance,and the operation can return to block 1330 to monitor the distance D1.If yes, then the current D1 distance is unsafe, and in block 1336 theACC system 400 can automatically increase the time headway distance D1by decelerating or braking the host vehicle 104 gradually to a safe timeheadway distance. In block 1338, the ACC computer system 404 cancontinue to monitor and adjust the time headway distance D1 based onchanges to distance D2, tailgating vehicle 1110 speed S_(TV), or anyother data 412. The operation can return to block 1328 to determine ifthe remote vehicle 110 is disposed in the lane 1102 ahead of hostvehicle 104. If the remote vehicle 110 is not disposed ahead of the hostvehicle 104, then the operation can return to block 1306 to continuemonitoring and calculating the distance D2 between the host vehicle 104and the tailgating vehicle 1110.

The above described techniques may take the form of computer orcontroller implemented processes and apparatuses for practicing thosemethods. The disclosure can also be embodied in the form of computerprogram code containing instructions embodied in tangible media, such asfloppy diskettes, CD-ROMs, hard drives, or any other computer-readablestorage medium, wherein, when the computer program code is loaded intoand executed by a computer or controller, the computer becomes anapparatus for practicing the embodiments. The disclosure may also beembodied in the form of computer program code or signal, for example,whether stored in a storage medium, loaded into and/or executed by acomputer or controller, or transmitted over some transmission medium,such as over electrical wiring or cabling, through fiber optics, or viaelectromagnetic radiation, wherein, when the computer program code isloaded into and executed by a computer, the computer becomes anapparatus for practicing the embodiments. When implemented on ageneral-purpose microprocessor, the computer program code segmentsconfigure the microprocessor to create specific logic circuits.

VIII. Alternative Embodiments

While certain embodiments of the invention are described above, andFIGS. 1-13B disclose the best mode for practicing the various inventiveaspects, it should be understood that the invention can be embodied andconfigured in many different ways without departing from the spirit andscope of the invention.

In an alternative embodiment, instead of predicting the remote vehicle110 merging onto road 102 in front of the host vehicle 104, the ACCcomputer system 404 can detect any vehicle from the traffic 130 thatbecomes disposed directly in front of the host vehicle 104. In anexample, the remote vehicle 110 may merge ahead of traffic 130, therebyslowing traffic 130 behind the remote vehicle 110. The host vehicle 104may travel at a greater speed than traffic 130 and therefore encounterone of the second traffic vehicle 118, third traffic vehicle 122, orfifth traffic vehicle 128, instead of the remote vehicle 110. The ACCcomputer system could therefore determine if one of these trafficvehicles is disposed in front of the host vehicle 104 and define thetraffic vehicle as a lead vehicle in step 1328.

Exemplary embodiments are intended to include or otherwise cover anytype of vehicle-to-vehicle, vehicle-to-external, vehicle-to-everything,peer-to-peer, or one-to-many communication network. In other words,exemplary embodiments are intended to cover any application of acommunications network between vehicles, bicycles, motorcycles,pedestrians, processors, servers, controllers, infrastructure, etc.disclosed above.

Exemplary embodiments are intended to cover execution of method steps onany appropriate specialized or general purpose server, computer device,or processor in any order relative to one another. Some of the steps inthe embodiments can be omitted, as desired.

Exemplary embodiments are intended to cover using service provider 212as a remote ACC computer system 404. Service provider 212 may includethe same or substitute components and perform the same or similarfunctions as the computer system 404. ACC system 400 may collect,analyze, and store data 412 in real time during a traffic merge event.The data 412, analysis, and predictions may be uploaded and stored inservice provider server 214 for access and use by host vehicle 104 orother vehicles. Further, service provider memory 220 can performanalysis in real time for host vehicle 104 based on data uploaded toservice provider 212 by any vehicle and/or infrastructure associated atraffic merge of the embodiments. In this configuration, the computersystem 404 can function as a “thin client” system gathering andtransmitting data for host vehicle 104 for upload to server 214.

The service provider 212 can perform computer system 404 analyses andtransmit predictions and ACC system instructions and/or informing alertsthrough one-to-many communication network 222 back to host vehicle 104.Each vehicle connected to vehicle communication network 200 can transmitdata to and receive information from service provider 212. An advantageto the alternative embodiment is that ACC systems in each DSRCconfigured vehicle may be centrally controlled, which can provide forgreater coordination and cooperation between ACC systems in vehiclesduring a traffic merge or other traffic related events.

A computer architecture of the embodiments may be a general purposecomputer or a special purpose computer. A computer can be used toimplement any components of the ACC system 400 or the methods of theembodiments. For example, components of computer system 404 can beimplemented on a computer via its hardware, software program, firmware,or a combination thereof. Although individual computers or servers areshown in the embodiments, the computer functions relating to computersystem 404 may be implemented in a distributed fashion on a number ofsimilar platforms, to distribute the processing and/or functional load.

Embodiments are also intended to include or otherwise cover methods ofusing and methods of manufacturing the ACC system 400 disclosed above.The methods of manufacturing include or otherwise cover processors andcomputer programs implemented by processors used to design variouselements of the ACC system 400 above. For example, embodiments areintended to cover processors and computer programs used to design ortest the ACC system 400.

Exemplary embodiments are intended to cover all software or computerprograms capable of enabling processors to implement the aboveoperations, designs and determinations. Exemplary embodiments are alsointended to cover any and all currently known, related art or laterdeveloped non-transitory recording or storage mediums (such as a CD-ROM,DVD-ROM, hard drive, RAM, ROM, floppy disc, magnetic tape cassette,etc.) that record or store such software or computer programs. Exemplaryembodiments are further intended to cover such software, computerprograms, systems and/or processes provided through any other currentlyknown, related art, or later developed medium (such as transitorymediums, carrier waves, etc.), usable for implementing the exemplaryoperations disclosed above.

These computer programs can be executed in many exemplary ways, such asan application that is resident in the memory of a device or as a hostedapplication that is being executed on a server and communicating withthe device application or browser via a number of standard protocols,such as TCP/IP, HTTP, XML, SOAP, REST, JSON and other sufficientprotocols. The disclosed computer programs can be written in exemplaryprogramming languages that execute from memory on the device or from ahosted server, such as BASIC, COBOL, C, C++, Java, Pascal, or scriptinglanguages such as JavaScript, Python, Ruby, PHP, Perl or othersufficient programming languages.

Embodiments are amenable to a variety of modifications and/orenhancements. For example, although the implementation of variouscomponents described above may be embodied in a hardware device, it canalso be implemented as a software-only solution, e.g., an installationon an existing server. In addition, systems and their components asdisclosed herein can be implemented as a firmware, firmware/softwarecombination, firmware/hardware combination, or ahardware/firmware/software combination.

Some of the disclosed embodiments include or otherwise involve datatransfer over a network, such as communicating various inputs over thenetwork. The network may include, for example, one or more of theInternet, Wide Area Networks (WANs), Local Area Networks (LANs), analogor digital wired and wireless telephone networks (e.g., a PSTN,Integrated Services Digital Network (ISDN), a cellular network, andDigital Subscriber Line (xDSL)), radio, television, cable, satellite,and/or any other delivery or tunneling mechanism for carrying data. Anetwork may include multiple networks or sub-networks, each of which mayinclude, for example, a wired or wireless data pathway. The network mayinclude a circuit-switched voice network, a packet-switched datanetwork, or any other network able to carry electronic communications.For example, the network may include networks based on the Internetprotocol (IP) or asynchronous transfer mode (ATM), and may support voiceusing, for example, VoIP, Voice-over-ATM, or other comparable protocolsused for voice data communications. In one implementation, the networkincludes a cellular telephone network configured to enable exchange oftext or SMS messages.

Examples of a network include, but are not limited to, a personal areanetwork (PAN), a storage area network (SAN), a home area network (HAN),a campus area network (CAN), a local area network (LAN), a wide areanetwork (WAN), a metropolitan area network (MAN), a virtual privatenetwork (VPN), an enterprise private network (EPN), Internet, a globalarea network (GAN), and so forth.

While the subject matter has been described in detail with reference toexemplary embodiments thereof, it will be apparent to one skilled in theart that various changes can be made, and equivalents employed, withoutdeparting from the scope of the invention.

1-20. (canceled)
 21. A vehicle control system for use with a hostvehicle configured for travel along a path, the vehicle control systemcomprising: a processor that is configured to: access a host locationand a host speed of the host vehicle; detect a follower location and afollower speed of a following vehicle behind the host vehicle on thepath; calculate a tailgating distance between the host vehicle and thefollowing vehicle; identify the following vehicle as a tailgatingvehicle when the tailgating distance is less than or equal to a firstwarning distance, or when the follower speed is greater than the hostvehicle within a second warning distance; and initiate a tailgatingprotocol of the host vehicle based on a differential speed between thehost speed and the follower speed.
 22. The vehicle control system ofclaim 21, wherein the tailgating protocol includes a visual indicator tobe emitted from the host vehicle toward the tailgating vehicle.
 23. Thevehicle control system of claim 22, wherein the visual indicator is aflashing of one or more lights of the host vehicle, and whereinfrequency of the flashing of the one or more lights is based on thedifferential speed.
 24. The vehicle control system of claim 21, whereinwhen the tailgating distance is greater than the first warning distance,the following vehicle is identified as the tailgating vehicle inresponse to the follower speed being greater than the host speed and thefollowing vehicle being within the second warning distance.
 25. Thevehicle control system of claim 24, wherein the second warning distanceis greater than the first warning distance.
 26. The vehicle controlsystem of claim 21, further comprising: detecting a lead vehicle aheadof the host vehicle on the path; and calculating a lead distance betweenthe host vehicle and the lead vehicle, wherein the tailgating protocolincludes increasing the host speed based on the lead distance.
 27. Thevehicle control system of claim 21, further comprising: updating thefirst warning distance based on changes to the first warning distanceand the follower speed.
 28. A method of identifying a tailgating vehicleand controlling a host vehicle based on the identified tailgatingvehicle for travel along a path, the method being implemented by aprocessor and a vehicle control system, the method comprising: access ahost location and host speed of the host vehicle; detect a followerlocation and follower speed of a following vehicle behind the hostvehicle on the path; calculate a tailgating distance between the hostvehicle and the following vehicle; identify the following vehicle as atailgating vehicle wherein when the tailgating distance is less than orequal to a first warning distance, or when the follower speed is greaterthan the host vehicle within a second warning distance; and initiate atailgating protocol of the host vehicle based on a differential speedbetween the host speed and the follower speed.
 29. The method of claim28, wherein the tailgating protocol includes a visual indicator to beemitted from the host vehicle.
 30. The method of claim 29, wherein thevisual indicator is a flashing of one or more lights of the hostvehicle, and wherein frequency of the flashing of the one or more lightsis based on the differential speed.
 31. The method of claim 28, whereinwhen the tailgating distance is greater than the first warning distance,the following vehicle is identified as the tailgating vehicle inresponse to the follower speed being greater than the host speed and thefollowing vehicle being within the second warning distance.
 32. Themethod of claim 31, wherein the second warning distance is greater thanthe first warning distance.
 33. The method of claim 28, furthercomprising: detecting a lead vehicle ahead of the host vehicle on thepath; and calculating a lead distance between the host vehicle and thelead vehicle, wherein the tailgating protocol includes increasing thehost speed based on the lead distance.
 34. The method of claim 28,further comprising: updating the first warning distance based on changesto the first warning distance and the follower speed.
 35. A vehiclecontrol system for use with a host vehicle configured for travel along apath, the vehicle control system comprising: a processor that isconfigured to: access a host location and host speed of the hostvehicle; detect a follower location and follower speed of a followingvehicle behind the host vehicle on the path; calculate a tailgatingdistance between the host vehicle and the following vehicle; compare thetailgating distance to a first warning distance, wherein when thetailgating distance is less than or equal to the first warning distance,identifying the following vehicle as a tailgating vehicle, and whereinwhen the tailgating distance is greater than the first warning distancecomparing the host speed to the follower speed to determine adifferential speed and identifying the following vehicle as thetailgating vehicles based on the differential speed; and initiate atailgating protocol of the host vehicle based on the differential speed.36. The vehicle control system of claim 35, wherein the tailgatingprotocol includes a visual indicator to be emitted from the hostvehicle.
 37. The vehicle control system of claim 36, wherein the visualindicator is a flashing of one or more lights of the host vehicle, andwherein frequency of the flashing of the one or more lights is based onthe differential speed.
 38. The vehicle control system of claim 35,wherein when the tailgating distance is greater than the first warningdistance, the following vehicle is identified as the tailgating vehiclein response to the follower speed being greater than the host speed andthe following vehicle being within a second warning distance.
 39. Thevehicle control system of claim 38, wherein the second warning distanceis greater than the first warning distance.
 40. The vehicle controlsystem of claim 35, further comprising: updating the first warningdistance based on changes to the first warning distance and the followerspeed.